Medical device for manipulating surgical tools
A medical device is provided. The medical device includes an adaptor, a parallel manipulator, a shaft motor, a transmission shaft and a force transducer. The force transducer is disposed between the adaptor and an end platform of the parallel manipulator, and the force transducer has a through hole. The receiving shaft of the adaptor meets the transmission shaft in the through hole to receive the mechanical force from the transmission shaft to manipulate movement of the surgical tool.
1. A medical device, comprising:
an adaptor configured to hold a surgical tool, wherein the adaptor includes:
a body; and
a receiving shaft rotatably supported by the body;
a parallel manipulator, including:
an end platform;
a base platform; and
a plurality of limbs operably coupled between the end platform and the base platform;
a shaft motor attached to the base platform and configured to generate a mechanical force for manipulating movement of the surgical tool;
a transmission shaft rotatably supported by the end platform, wherein the transmission shaft is configured to transfer the mechanical force to the receiving shaft; and
a force transducer disposed between the adapter and the end platform and having a through hole, wherein the receiving shaft meets the transmission shaft in the through hole to receive the mechanical force from the transmission shaft to manipulate movement of the surgical tool.
2. The medical device according to claim 1 , wherein the force transducer is a donut load cell and is configured to convert a force applied to the adaptor into an electrical signal.
3. The medical device according to claim 1 , wherein the adaptor further has a first bearing configured to rotatably attach the receiving shaft to the body of the adaptor.
4. The medical device according to claim 1 , wherein the adaptor further has a second bearing configured to rotatably attach the transmission shaft to the end platform.
5. The medical device according to claim 1 , further comprising:
a force relay disposed between the adaptor and the force transducer.
6. The medical device according to claim 5 , wherein the force relay is detachably coupled to the adaptor, and the force transducer is mechanically attached to the force relay and the end platform.
7. The medical device according to claim 6 , wherein the force transducer is mechanically attached to the force relay and the end platform using a plurality of fasteners embedded around a periphery of the through hole.
8. The medical device according to claim 7 , wherein a plurality of holes are formed on a front surface and a back surface of the force transducer to correspondingly accommodate the plurality of fasteners for the force relay and the end platform.
9. The medical device according to claim 1 , wherein the receiving shaft has a receiving yoke for receiving the mechanical force from the transmission shaft.
10. The medical device according claim 9 , wherein the transmission shaft includes:
a transmission yoke configured to transfer the mechanical force to the receiving yoke;
a pliable rod connected to the transmission yoke; and
a runner connected to the pliable rod.
11. The medical device according to claim 10 , wherein the mechanical force generated by the shaft motor is transmitted to the runner through a drive shaft.
12. The medical device according to claim 10 , wherein the pliable rod is a spring tube having a plurality of layers.